You can. The first trick is to download it. Go to the YouTube page that contains the video you want, then add "kiss" right before "youtube" in the URL. For example, "http://www.youtube.com/somelongcrazystuff" becomes "http://www.kissyoutube.com/somelongcrazystuff". It will take you to a page that offers you a download link. Save it with the extension .flv BTW: The site looks kind of shady so make sure your antivirus is up to date and your pop up blocker is on before going there.
Now you just need to convert it into .avi or something your DVD burning software actually recognizes. There are lots of free tools out there; just google "free flv to avi converter" or something like that and pick out a tool you like.
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